Habituating control for non-square nonlinear processes

A controller design strategy for nonlinear systems with two manipulated inputs and one controlled output is proposed. The technique is called “habituating control” as a result of its similarity to control schemes commonly used in biological systems. A nonlinear control law that provides input-output linearization while simultaneously minimizing the “cost” of affecting control is derived. The cost function employed differs according to the relative degrees of the two inputs. Local stability analysis shows that the habituating controller can provide a simple solution to the singularity and nonminimum phase problems. The method is evaluated using a nonlinear chemical reactor model